UAVCAN magnetometer driver

1 files changed, 72 insertions, 0 deletions

diff --git a/src/modules/uavcan/sensors/mag.hpp b/src/modules/uavcan/sensors/mag.hpp
new file mode 100644
index 000000000..7f23a0b8f
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+++ b/src/modules/uavcan/sensors/mag.hpp
@@ -0,0 +1,72 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @author Pavel Kirienko <pavel.kirienko@gmail.com>
+ */
+
+#pragma once
+
+#include "sensor_bridge.hpp"
+#include <drivers/device/device.h>
+#include <drivers/drv_mag.h>
+
+#include <uavcan/equipment/ahrs/Magnetometer.hpp>
+
+class UavcanMagnetometerBridge : public IUavcanSensorBridge, public device::CDev
+{
+public:
+	UavcanMagnetometerBridge(uavcan::INode& node);
+	~UavcanMagnetometerBridge() override;
+
+	const char *get_name() const override;
+
+	int init() override;
+
+private:
+	int ioctl(struct file *filp, int cmd, unsigned long arg) override;
+
+	void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg);
+
+	typedef uavcan::MethodBinder<UavcanMagnetometerBridge*,
+		void (UavcanMagnetometerBridge::*)
+			(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer>&)>
+		MagCbBinder;
+
+
+	uavcan::Subscriber<uavcan::equipment::ahrs::Magnetometer, MagCbBinder>	_sub_mag;
+	mag_scale _scale = {};
+	orb_id_t _orb_id = nullptr;
+	orb_advert_t _orb_advert = -1;
+	int _class_instance = -1;
+};